System and method of assisted or automated crop transfer

A method comprising:

• capturing image data of an agricultural harvester using a camera on an agricultural crop receiving vehicle;
• using one or more computing devices to identify a plurality of fiducial markers of the agricultural harvester in the image data;
• identifying a first fiducial marker and a second fiducial marker of the plurality of fiducial markers within the image data;
• identifying a location and a size of each of the first fiducial marker and the second fiducial marker within the image data;
• determining a distance between the first fiducial marker and the second fiducial marker within the image data;
• based at least partially on the determined distance between the first fiducial marker and the second fiducial marker, determining a location of the agricultural harvester relative to the crop receiving vehicle;
• and
• based at least partially on the determined location of the agricultural harvester relative to the crop receiving vehicle, controlling one or more operations of the agricultural crop receiving vehicle to adjust or maintain a position of the agricultural crop receiving vehicle relative to the agricultural harvester.

A system comprising:

• an agricultural harvester comprising a plurality of fiducial markers defined thereon;
• an agricultural crop receiving vehicle comprising:
• a bin for receiving and holding agricultural crop material transferred from the agricultural harvester;
• a camera positioned to capture images of the agricultural harvester and configured to generate image data;
• and
• one or more sensors for generating sensor data indicating a fill level of crop material within the bin;
• one or more computing devices comprising:
• at least one processor;
• and
• at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the one or more computing devices to:
• receive the image data from the camera;
• receive the sensor data from the one or more sensors;
• identify the plurality of fiducial markers in the image data;
• identify a first fiducial marker and a second fiducial marker of the plurality of fiducial markers within the image data;
• identify a location and a size of each of the first fiducial marker and the second fiducial marker within the image data;
• determine a distance between the first fiducial marker and the second fiducial marker within the image data;
• based at least partially on the determined distance between the first fiducial marker and the second fiducial marker, determine a location of the agricultural harvester relative to the crop receiving vehicle, and
• based at least partially on the determined location of the agricultural harvester relative to the crop receiving vehicle, control one or more operations of the agricultural crop receiving vehicle to adjust or maintain a position of the agricultural crop receiving vehicle relative to the agricultural harvester.